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针对摩擦非线性的扰动抑制和输出反馈控制问题,提出一种高阶滑模扩张状态观测器(ESO),实时获得系统的状态信号.在此基础上,设计神经网络自适应权值调节律,以得到控制信号设计参数与输出跟踪性能之间的关系;同时,给出保证系统动态性能的观测器状态初值与自适应调节律参数初值的充要条件.最后,通过稳定性证明和仿真算例验证了所提出控制算法的有效性.
In order to solve the problem of frictional non-linear disturbance rejection and output feedback control, a high-order sliding mode extended state observer (ESO) is proposed to obtain the state signals of the system in real time. On the basis of this, an adaptive weight- To obtain the relationship between the design parameters of the control signal and the output tracking performance.At the same time, the necessary and sufficient conditions for the initial value of the observer state and the initial value of the adaptive tuning law parameters to guarantee the dynamic performance of the system are given.Finally, through the proof of stability and simulation The example verifies the effectiveness of the proposed control algorithm.